chrono::robosimian::RoboSimianURDF Class Reference
Description
RoboSimian robot model constructed from URDF specification file.
The robot model consists of a chassis (torso) with an attached sled and four limbs (legs).
#include <RoboSimianURDF.h>
Public Member Functions | |
| void | SetVerbose (bool val) |
| void | SetOutputDirectory (const std::string &dir) |
| void | SetInitialPose (const ChFramed &frame) |
| Set initial robot pose. | |
| void | SetLocomotionMode (LocomotionMode mode) |
| Set locomotion mode. | |
| void | SetDurationStartPose (double dt) |
| Set time interval to assume start pose. | |
| void | SetDurationHold (double dt) |
| Set time interval to hold the start pose. | |
| LocomotionMode | GetLocomotionMode () const |
| Get the locomotion mode. | |
| void | Construct (ChSystem &sys) |
| Construct the RoboSimian robot in the specified Chrono system. | |
| std::shared_ptr< ChBody > | GetTorsoBody () const |
| Get the robot torso body;. | |
| std::shared_ptr< ChBody > | GetSledBody () const |
| Get the robot sled body. | |
| std::vector< std::shared_ptr< ChBody > > | GetWheelBodies () const |
| Get a vector with all robot wheel bodies. | |
| const ChVector3d & | GetWheelPos (int i) const |
| Get the position of the specified wheel. | |
| double | GetWheelRadius () const |
| Get an approximate wheel radius. More... | |
| std::shared_ptr< utils::ChBodyGeometry > | GetSledGeometry () const |
| Get the sled collision geometry. | |
| std::shared_ptr< utils::ChBodyGeometry > | GetWheelGeometry () const |
| Get the wheel collision geometry. | |
| void | FixTorso (bool fixed) const |
| void | SimulateToStartPose (double step_size, std::shared_ptr< ChVisualSystem > vis=nullptr) |
| void | LoadCheckpoint () |
| Initialize the robot with data from the checkpoint file. More... | |
| void | UpdateActuation (double time) |
| Update robot actuation at the current time. More... | |
| void | SetLocomotionPhase (parsers::ChRobotActuation::Phase phase) |
| Set the current locomotion phase. | |
Member Function Documentation
◆ GetWheelRadius()
|
inline |
Get an approximate wheel radius.
This is the X-dimension of the AABB of the wheel collision model.
◆ LoadCheckpoint()
| void chrono::robosimian::RoboSimianURDF::LoadCheckpoint | ( | ) |
Initialize the robot with data from the checkpoint file.
The robot must be constructed and a checkpoint file must exist (e.g., created by SimulateToStartPose()).
◆ UpdateActuation()
| void chrono::robosimian::RoboSimianURDF::UpdateActuation | ( | double | time | ) |
Update robot actuation at the current time.
This function sets the values for all motor functions.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_models/robot/robosimian/RoboSimianURDF.h
- /builds/uwsbel/chrono/src/chrono_models/robot/robosimian/RoboSimianURDF.cpp
